TY  - CPAPER
U1  - Konferenzveröffentlichung
A1  - Tkany, Charlotte
A1  - Grotjahn, Martin
A1  - Kühn, Johannes
T1  - Flatness-based Feedforward Control of a Stacker Crane with Online Trajectory Generation
T2  - 2020 4th International Conference on Automation, Control and Robots (ICACR), 11-13 Oct. 2020
N2  - Flatness-based feedforward control is an approach for combining fast motion with low oscillations for nonlinear or flexible drive systems. Its desired trajectories must be continuously differentiable to the degree of the system order. Designing such trajectories, that also reach the dynamic system limits, poses a challenge. Common solutions, like Gevrey functions, usually require lengthy offline calculations. To achieve a quicker and simpler industrial-suited solution, this paper presents a new online trajectory generation scheme. The algorithm utilizes higher order s-curve trajectories created by a cyclic filtering process using moving average filters. An experimental validation proves the capability as well as industrial applicability of the presented approach for flexible structures like stacker cranes.
KW  - flatness-based control
KW  - flexible structure
KW  - online trajectory generation
KW  - moving average filter
KW  - Flexible Struktur
KW  - increasing continuous differentiability
KW  - dynamic trajectories
KW  - Regalförderzeug
KW  - Flachheitsbasierte Vorsteuerung
KW  - Online-Trajektoriengenerierung
KW  - Regalbediengerät
Y1  - 2020
UN  - https://nbn-resolving.org/urn:nbn:de:bsz:960-opus4-20719
SN  - 978-1-7281-9208-6
SB  - 978-1-7281-9208-6
U6  - https://doi.org/10.25968/opus-2071
DO  - https://doi.org/10.25968/opus-2071
SP  - 10
S1  - 10
ER  -